OUTPUT STABILIZATION OF SQUARE NONLINEAR-SYSTEMS

This paper considers the problem of designing static-state feedback la ws for output regulation of square affine nonlinear systems. The appro ach taken is to use input-output decoupling techniques to simplify the output regulation task into separate single-input single-output regul ation tasks. In the case where the input-output decoupling matrix is f ull-rank, this approach yields the well-known input-output linearizing feedback law. In the case where the input-output decoupling matrix is rank-degenerate, it is shown that a static-state control law for outp ut regulation can be constructed as long as the system can be input-ou tput decoupled via dynamic feedback. The internal stability of the clo sed-loop system obtained using this approach is analysed. (C) 1997 Els evier Science Ltd.